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<p><code>#include &lt;<a class="el" href="_robot_subsystem_8hpp_source.html">RobotSubsystem.hpp</a>&gt;</code></p>
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Inheritance diagram for RobotSubsystem:</div>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a7066b5d072b9ff707aabad9c46fcdc55"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a7066b5d072b9ff707aabad9c46fcdc55">HandlePeriodic</a> ()</td></tr>
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<tr class="memitem:a27e1d6644dbf38a6a056abafa08980e8"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#a27e1d6644dbf38a6a056abafa08980e8">HandleStop</a> ()=0</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>GetIsAwake</b> () const </td></tr>
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<tr class="memitem:ab307ef887a2a864004b407379aefbbe6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_robot_subsystem.html#ab307ef887a2a864004b407379aefbbe6">Awake</a> ()</td></tr>
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<tr class="inherit_header pro_methods_class_subscriber"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_subscriber')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_subscriber.html">Subscriber</a></td></tr>
<tr class="memitem:adf012d21f14dd64d1afd95efe799d370 inherit pro_methods_class_subscriber"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:aa545a5133edce53707738ee55d7b47cc inherit pro_methods_class_subscriber"><td class="memTemplItemLeft" align="right" valign="top">boost::shared_ptr&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_subscriber.html#aa545a5133edce53707738ee55d7b47cc">Launch</a> (boost::shared_ptr&lt; T &gt; operation)</td></tr>
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<tr class="memitem:ac4d2c5853af0a642ce7f5b52b3d09112 inherit pro_methods_class_subscriber"><td class="memTemplItemLeft" align="right" valign="top">boost::shared_ptr&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_subscriber.html#ac4d2c5853af0a642ce7f5b52b3d09112">Launch</a> (T *operation, bool canDeleteOperation=false)</td></tr>
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<tr class="memitem:a8db71f899cdbf3608791b8506814c850 inherit pro_methods_class_subscriber"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_subscriber.html#a8db71f899cdbf3608791b8506814c850">CancelAllOperations</a> ()</td></tr>
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Friends</h2></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>SystematicRobot</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a> class is a base class for classes that represent a subsystem of the robot.</p>
<p>A subsystem usually represents a mechanism on the physical robot. (e.g. A <a class="el" href="class_drive_subsystem.html">DriveSubsystem</a> would represent the drive train.)</p>
<p>To use it, create subclasses that override HandlePeriodic, HandleStop, and (optionally) HandleAwake functions. Then, create functions that control the subsystem that to be called by external Services or internal Operations.</p>
<p>Every <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a> must be added to the <a class="el" href="class_systematic_robot.html">SystematicRobot</a>, which will call the event handling functions at the correct times.</p>
<p>Subsystems can be set asleep by calling Sleep to save processing time. While asleep, HandlePeriodic will not be called and no Operations can be run within it. Use the Awake function to exit this sleep mode.</p>
<p>Testing shows this class works. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Constructor for <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a>. </p>

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<p>Destructor for <a class="el" href="class_robot_subsystem.html">RobotSubsystem</a>. </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Awake the subsystem to reenable the periodic loop handler. </p>

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<p>This function should be overridden to handle the subsystem awakening (when Awake function is called). </p>

<p>Reimplemented in <a class="el" href="class_tank_drive_subsystem.html#ae91788bb584fba841a4322e4ab533303">TankDriveSubsystem</a>.</p>

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<p>This function should be overridden to handle periodic subsystem tasks. It will be called periodically when subsystem is added to robot. </p>

<p>Reimplemented from <a class="el" href="class_subscriber.html#a6ffeb82e812ef06db4aff08ee01d427b">Subscriber</a>.</p>

<p>Reimplemented in <a class="el" href="class_tank_drive_subsystem.html#ab834b550c5bc2aa5ea164201287a3ebf">TankDriveSubsystem</a>, and <a class="el" href="class_mecanum_drive_subsystem.html#adf2c3d907fc8271f70dee8eb3be2576f">MecanumDriveSubsystem</a>.</p>

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<p>This function must be overridden to disable this subsystem.</p>
<p>It must be implimented such that:</p>
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<li>All contained actuators will stop.</li>
<li>The subsystem can be stopped again even after it has been stopped.</li>
<li>Actuators will stay powerless until an <a class="el" href="class_robot_subsystem_1_1_action.html">Action</a> function (a public function) has been called.</li>
<li>If the subsystem has already been stopped and an <a class="el" href="class_robot_subsystem_1_1_action.html">Action</a> function has not been called, stopping the subsystem will not result in powered actuator activity. </li>
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<p>Implemented in <a class="el" href="class_tank_drive_subsystem.html#a55532e7537d8f4aa680499fd84483ab7">TankDriveSubsystem</a>.</p>

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<p>Stop the subsystem and set it asleep to disable the periodic loop handler. </p>

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<p>Stops the subsystem, which should stop sending power to contained actuators until an <a class="el" href="class_robot_subsystem_1_1_action.html">Action</a> function is called. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Subsystems/<a class="el" href="_robot_subsystem_8hpp_source.html">RobotSubsystem.hpp</a></li>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Subsystems/RobotSubsystem.cpp</li>
</ul>
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